From 41c1bd07faa249992d40594c3d18eb750ebe4f9c Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Wed, 12 Jun 2019 07:16:28 -0700
Subject: [PATCH] Add function for getting clients by node
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
.../src/rmw_node_info_and_types.cpp | 13 +++++
.../src/rmw_node_info_and_types.cpp | 17 ++++++
.../rmw_fastrtps_shared_cpp/rmw_common.hpp | 10 ++++
.../src/rmw_node_info_and_types.cpp | 55 ++++++++++++++++++-
4 files changed, 93 insertions(+), 2 deletions(-)
diff --git a/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp
index 7e388ade8..972fc3184 100644
--- a/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node_info_and_types.cpp
@@ -65,4 +65,17 @@ rmw_get_service_names_and_types_by_node(
eprosima_fastrtps_identifier, node, allocator, node_name, node_namespace,
service_names_and_types);
}
+
+rmw_ret_t
+rmw_get_client_names_and_types_by_node(
+ const rmw_node_t * node,
+ rcutils_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rmw_names_and_types_t * service_names_and_types)
+{
+ return rmw_fastrtps_shared_cpp::__rmw_get_client_names_and_types_by_node(
+ eprosima_fastrtps_identifier, node, allocator, node_name, node_namespace,
+ service_names_and_types);
+}
} // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_node_info_and_types.cpp
index 2131cc93d..6867628c8 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_node_info_and_types.cpp
@@ -80,4 +80,21 @@ rmw_get_service_names_and_types_by_node(
node_namespace,
service_names_and_types);
}
+
+rmw_ret_t
+rmw_get_client_names_and_types_by_node(
+ const rmw_node_t * node,
+ rcutils_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rmw_names_and_types_t * service_names_and_types)
+{
+ return rmw_fastrtps_shared_cpp::__rmw_get_client_names_and_types_by_node(
+ eprosima_fastrtps_identifier,
+ node,
+ allocator,
+ node_name,
+ node_namespace,
+ service_names_and_types);
+}
} // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index 8ffc8cd02..1cd1b669b 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -226,6 +226,16 @@ __rmw_get_service_names_and_types_by_node(
const char * node_namespace,
rmw_names_and_types_t * service_names_and_types);
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_get_client_names_and_types_by_node(
+ const char * identifier,
+ const rmw_node_t * node,
+ rcutils_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rmw_names_and_types_t * service_names_and_types);
+
RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_get_subscriber_names_and_types_by_node(
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
index 7713f3528..ac1d94474 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_node_info_and_types.cpp
@@ -385,15 +385,18 @@ __rmw_get_publisher_names_and_types_by_node(
node_namespace, no_demangle, retrieve_pub_cache, topic_names_and_types);
}
+static
rmw_ret_t
-__rmw_get_service_names_and_types_by_node(
+__get_service_names_and_types_by_node(
const char * identifier,
const rmw_node_t * node,
rcutils_allocator_t * allocator,
const char * node_name,
const char * node_namespace,
- rmw_names_and_types_t * service_names_and_types)
+ rmw_names_and_types_t * service_names_and_types,
+ const char * topic_suffix)
{
+ const std::string topic_suffix_stdstr(topic_suffix);
rmw_ret_t valid_input = __validate_input(identifier, node, allocator, node_name,
node_namespace, service_names_and_types);
if (valid_input != RMW_RET_OK) {
@@ -420,6 +423,15 @@ __rmw_get_service_names_and_types_by_node(
// not a service
continue;
}
+ // Check if the topic suffix matches and is at the end of the name
+ const std::string & topic_name = topic_pair.first;
+ auto suffix_position = topic_name.rfind(topic_suffix_stdstr);
+ if (suffix_position == std::string::npos ||
+ topic_name.length() - suffix_position - topic_suffix_stdstr.length() != 0)
+ {
+ continue;
+ }
+
for (auto & itt : topic_pair.second) {
std::string service_type = _demangle_service_type_only(itt);
if (!service_type.empty()) {
@@ -484,4 +496,43 @@ __rmw_get_service_names_and_types_by_node(
} // for each service
return RMW_RET_OK;
}
+
+rmw_ret_t
+__rmw_get_service_names_and_types_by_node(
+ const char * identifier,
+ const rmw_node_t * node,
+ rcutils_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rmw_names_and_types_t * service_names_and_types)
+{
+ return __get_service_names_and_types_by_node(
+ identifier,
+ node,
+ allocator,
+ node_name,
+ node_namespace,
+ service_names_and_types,
+ "Request");
+}
+
+rmw_ret_t
+__rmw_get_client_names_and_types_by_node(
+ const char * identifier,
+ const rmw_node_t * node,
+ rcutils_allocator_t * allocator,
+ const char * node_name,
+ const char * node_namespace,
+ rmw_names_and_types_t * service_names_and_types)
+{
+ return __get_service_names_and_types_by_node(
+ identifier,
+ node,
+ allocator,
+ node_name,
+ node_namespace,
+ service_names_and_types,
+ "Reply");
+}
+
} // namespace rmw_fastrtps_shared_cpp